• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1093-1098
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• 2003

In this paper, a practical methodology of hand-manipulator motion coordination for indoor service robot is introduced. This paper describes the procedures of opening door performed by service robot as a noticeable example of motion coordination. This paper presents well-structured framework for hand-manipulator motion coordination, which includes intelligent sensor data interpretation, object shape estimation, optimal grasping, on-line motion planning and behavior-based task execution. This proposed approach is focused on how to integrate the respective functions in harmony and enable the robot to complete its operation under the limitation of usable resources. As a practical example of implementation, the successful experimental results in opening door whose geometric parameters are unknown beforehand are provided.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2005.04a
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• pp.375-382
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• 2005

In this paper, a practical control method of wind-induced vibration of high-rise buildings is presented in the form of resizing algorithm. In the structural design process for high-rise buildings, the lateral load resisting system for the building is more often determined by serviceability design criteria including wind-induced vibration level. Even though many drift method have been developed in various forms, no practical design method for wind induced vibration has been developed so far. Structural engineers rely upon heuristic or experience in designing wind induced vibration. The performance of the proposed method is evaluated by comparing wind-induced vibration levels estimated both from approximate techniques and wind tunnel test.

• Proceedings of the IEEK Conference
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• 2009.05a
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• pp.118-120
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• 2009

In this paper, we present the Q-learning method for adaptive traffic signal control on the basis of multi-agent technology. The structure is composed of sixphase agents and one intersection agent. Wireless communication network provides the possibility of the cooperation of agents. As one kind of reinforcement learning, Q-learning is adopted as the algorithm of the control mechanism, which can acquire optical control strategies from delayed reward; furthermore, we adopt dynamic learning method instead of static method, which is more practical. Simulation result indicates that it is more effective than traditional signal system.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.90-90
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• 2001

This paper deals with the development of a practical control system or an algorithm for optimal aerobatic maneuvers and aerial combat maneuvers. First, a nonlinear flight trajectory tracking control system is synthesized and used to realize the optimal aerobatic maneuver. Some simulation results show that the trajectory achieved with the proposed tracking system is close to the optimal one. This means that the tracking system presented is the practical and effective method to realize the optimal aerobatic maneuvers. Second, the algorithm for a fighter in air combat is presented. This is a simple algorithm that uses a proportional navigation, some dynamic rules based on the conservation of specific energy and some experiential rules in air combat. However ...

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.2
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• pp.168-172
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• 2001

The accuracy problem of robot manipulators has long been one of the principal concerns in robot design and control. A practical and economical way of enhancing the manipulator accuracy, without affecting its hardware, is kinematic calibration. In this paper an effective and practical method is presented for kinematic calibration of Stewart platforms. In our method differential errors in kinematical parameters are linearly related to differential errors in the platform pose, expressed through the forward kinematics. The algorithm is tested using simulated measurement in which measurement noise is included.

• Journal of Advanced Navigation Technology
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• v.22 no.3
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• pp.228-232
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• 2018

Dealing with quntization error in a control system properly becomes much more important as many devices are connected through network and controlled. Thus, in this paper, we study a data rate condition on quantizer to achieve practical stability in a discrete time linear time invariant system with state feedback control. First, required data rate is shown to depend on eigenvalue of the closed loop system, the size of the initial state vector, the magnitude of initial quantization error, and control gain in the absence of process noise. It additionally depends on the maximum magnitude of process noise when noise is not zero. Asymptotic analysis shows that a new design method may be needed to reduce the date rate for a networked control in the presence of quantization error and noise.. We provide a simple numerical evaluation of uniform quantizer and logarithmic qunatizer to assess their characteristics of practical stability depending on data rate in the presence of noise.

• Journal of Korean Home Economics Education Association
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• v.14 no.3
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• pp.1-9
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• 2002

The objectives of this study were to measure the effect of Practical Reasoning Instruction in Home Economics : specifically. its effect on developing of critical thinking as well as to evaluate the degree of the critical thinking process. with reference to its sub-factors and the level. The research subjects were consisted of the experimental group of 119 freshman class female students from the “A” High School and the comparative group of 110 freshman class female student from the “C” High School in the city of Chung-Ju. This research was conducted under the pre-post test control group design. administering the Pre-Post testing to both the experimental and the comparative groups. The experimental group was subjected to Practical Reasoning Instruction in Home Economics : whereas the comparative group was taught under the lecture-Instruction in Home Economics The research findings are as follows: 1. Those who studied Home Economics under the Practical reasoning method scored higher on the critical thinking Process than the comparative group students who were taught Home Economics in the lecture-style approach. 2. The experimental group of students. who studied Home Economics under the Practical reasoning method. scored higher than the comparative group in their ability to perceive assumption and to render Judgment among the five sub-factors of their critical thinking processes.

• Journal of the Korean Society of Industry Convergence
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• v.7 no.2
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• pp.193-198
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• 2004

This is the dissertation of the study of design characteristics about the practical flexible manufacturing system (PFMS). The basic ideas to analyze the manufacturing system which is the automatically operated is dependant on the various manufacturing procedures in factory. PFMS is the very useful equipment for students and trainee of production lines. This system is composed of hardware and software sub systems i.e. control and test unit and personal computer with software. The PFMS can be developed with design concepts and approved the capability of first article with functional tests. The PFMS module will be very useful for the manufacturing drill system in universities and practical fields. The flexible manufacturing systems have various subsystems appropriated for the final manufacturing products. Therefore the systems have the various kinds of hard wares as well as softwares. We study the software for the practical flexible manufacturing system designed in the Halla University and specially the design concept and using specification of the SCARA (Selective Compliance Assembly Robot Arm) robot which is used for the movement of the product is analyzed and introduced in this dissertation.

• Journal of the Korean Institute of Navigation
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• v.17 no.3
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• pp.69-76
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• 1993

In harbour the practical shiphandlers should have a expert knowledge of systematically reducing head-way and keeping ship's positions to the final position with confidence and under control. But now in the practical approaches we do not have any special maneuvers of controlling the ship effi-ciently regarding the headway and approaches except some existing reduction of speeds according to the Weight-to-Power Ratio, use of astern power and Rudder Cycling. Consequently this study put Woo's Super Rudder Controlling originally developed by Captain Woo, Ph. D. to practical use as a special maneuvers in the port approaches. The conclusions of this paper are drawn as follows : 1) Optimum standard and desirable controls in combination of three engine speeds with three yaw ang-les were proposed for the practical shiphandlers, 2) According to simulation of the pilotships the Super advances are 10.5 ship lengths for Full full full maneuvers, and 7.9 ship lengths for Full half maneuvers approximately, 3) Approach maneuvers to anchorages by trying Woo's Super Rudder Controlling saved about 30% of total standby time in comparison with the existing Weight-to-Power Ratio maneuvers in the Pusan and Kwang Yang ports.

• 한국신재생에너지학회:학술대회논문집
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• 2010.06a
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• pp.65.2-65.2
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• 2010

Currently the variety of governmental business support and research for supplying solar energy have been actively progressed. As of now, however, There are no practical testing infrastructures of grid-connected photovoltaic system which test performance of solar power facility in domestic. Therefore, in KEPRI, there is in progress construction of practical testing ground of 500 kW class grid-connected PV System for developing the evaluation of the performance technology including the Module, PCS, and etc, that is the important instrument of the PV System, in Gochang area. It analyzed the site creation work for constructing the practical testing ground and new construction of control room and the unit standards, specifications and capacity of required equipment. For the system detailed design, configuration, instrument-specific parameters established, power generation predictions of Array Type and the components of testing ground are needed to build.